Two Segments Intersect?

1. x < xx > x y < yy > y if and only if 4 1 3 2 4 1 3 2 (x , y ) 4 4 (x , y ) 2 2 M (x , y ) 3 3 L (x , y ) 1 1 Two Segments Intersect? One method: solve for the intersection point of the two lines containing the two line segments, and then check whether this point lies on both segments. In practice, the two input segments often do not intersect. Stage 1: quick rejection if their bounding boxesdonot intersect L right of M? L left of M? L above M? L below M? bounding boxes Case 1: bounding boxes do not intersect; neither will the segments.

2. Bounding Box Case 2: Bounding boxes intersect; the segments may or may not intersect. Needs to be further checked in Stage 2.

3. p 1 ( p p )  ( p  p ) and ( pp )  ( pp ) are both positive! p 3 2 1 2 3 4 2 1 2 p 4 p 2 Stage 2 Two line segments do not intersect if and only if one segment lies entirely to one side of the line containing the other segment.

4. 3 // the line through p p // intersects p p . p 4 1 1 2 p // the line through p p // intersects p p . 3 1 2 3 4 p p 4 1 p 3 p 2 p 4 p (p p )  ( pp ) and ( p p )  ( pp ) (pp )  ( pp ) and ( p p )  ( p  p ) 2 1 4 3 4 2 4 3 4 32 1 2 4 2 1 2 Necessary and Sufficient Condition Two line segments intersect iff each of the two pairs of cross products below have different signs (or one cross product in the pair is 0).

5. n Line Segments Input: a set of nline segments in the plane. Output: all intersections and for each intersection the involved segments. .

6. 2 Running time (n ). A Brute-Force Algorithm Simply take each pair of segments, and check if they intersect. If so, output the intersection. Nevertheless, sparsedistribution in practice: Most segments do not intersect, or if they do, only with a few other segments. Need a faster algorithm that deals with such situations!

7. The Sweeping Algorithm Avoid testing pairs of segments that are far apart. Idea: imagine a vertical sweep line passes through the given set of line segments, from left to right. Sweep line

8. Assumption on Non-degeneracy No segment is vertical. // the sweep line always hits a segment at // a point. If ≥ 1 vertical segment, imagine all segments are rotated clockwise by a tiny angle and then test for intersection. This means: For each vertical segment, we will consider its lower endpoint before upper point.

9. Sweep Line Status The set of segments intersecting the sweep line. It changes as the sweep line moves, but not continuously. endpoints Updates of status happen only at event points. intersections A G C T event points

10. Ordering Segments Atotal orderover the segments that intersect the current position of the sweep line: B > C > D (A and E not in the ordering) B A E C C > D (B drops out of the ordering) D At an event point, the sequence of segments changes:  Update the status.  Detect the intersections.

11. Status Update (1) Event point is the left endpoint of a segment. • A new segment L intersecting the sweep line K O L • Check if L intersects with the segment above (K) and the segment below (M). M • Intersection(s) are new event points. N new event point K, M, N K, L, M, N

12. Status Update (2) Event point is an intersection. • The two intersecting segments (L and M) change order. K O L • Check intersection with new neighbors (M with O and L with N). M • Intersection(s) are new event points. N O, M, L, N O, L, M, N

13. Status Update (3) Event point is a lower endpoint of a segment. • The two neighbors (O and L) become adjacent. K O L • Check if they (O and L) intersect. M • Intersection is new event point. N O, M, L, N O, L, N

14. Correctness Invariantholding at any time during the plane sweep. All intersection points to the left of the sweep line have been computed correctly. The correctness of the algorithm thus follows.

15. Data Structure for Event Queue Ordering of event points: by x-coordinates by y-coordinates in case of a tie in x-coordinates. Supports the following operations on a segment s. fetching the next event // O(log m) // O(log m) inserting an event Every event point p is stored with all segments starting at p. Data structure: balanced binary search tree (e.g., red-black tree). m = #event points in the queue

16. Data Structure for Sweep-line Status Describes the relationships among the segments intersected by the sweep line. Use a balanced binary search tree Tto support the following operations on a segment s. Insert(T, s) Delete(T, s) Above(T, s)// segment immediately above s Below(T, s)// segment immediately below s e.g, Red-blacktrees, splay trees(key comparisons replaced by cross-product comparisons). O(log n)for each operation.

17. An Example O M N N K O L L N M K K L O The bottom-up order of the segments correspond to the left-to-right order of the leaves in the tree T.  Each internal node stores the segment from the rightmost leaf in its left subtree.

18. Additional Operation O M N N K O p L L N M K K L L O Searching for the segment immediately below some point p on the sweep line. Descend binary search tree all the way down to a leaf. Outputs either this leaf or the leaf immediately to its left . O(log n) time

19. The Algorithm • FindIntersections(S) • Input: a set S of line segments • Ouput: all intersection points and for each intersection the • segment containing it. • 1. Q// initialize an empty event queue • 2. Insert the segment endpoints into Q// store with every left endpoint • // the corresponding segments • 3. T// initialize an empty status structure • whileQ   • do extract the next event point p • 6. Q Q – {p} • 7. HandleEventPoint(p)

20. B A H C E A C C A D G G C A H H A B G G E C D A D C E G l B Handling Event Points Status updates (1) – (3) presented earlier. Degeneracy: several segments are involved in one event point (tricky). T: p (a) Delete D, E, A, C (b) Insert B, A, C

21. s a The Code of Event Handling • HandleEventPoint(p) • 1. L(p) { segments with left endpoint p } // they are stored with p • 2. S(p) { segments containing p} // alladjacent in T and found by a search • 3. R(p) = { segments with right endpoint p} // L(p)  S(p) • 4. C(p) = { segments with p in interior } // C(p)  S(p) • if | L  R  C | > 1 • then report p as an intersection along with L, U, C • T  T – (R  C ) • T T (L  C) // order as intersected by sweep line just to the • // right of p. segments in C(p) have order reversed. • 9. if L  C =  // right endpoint only • 10. then let s and s be the neighbors right below and above p in T • 11. FindNewEvent(s , s , p) • 12. else s  lowest segment in L  C • 13. s  segment right below s • 14. FindNewEvent(s , s, p) • 15. s  highest segment in L  C • 16. s  segment right above s • 17. FindNewEvent(s, s , p) b a a b s b p b s´ s b a a

22. Finding New Event • FindNewEvent(s , s , p) • if s and s intersect to the right of p// sweep line position • then insert the intersection point as an event in Q l r r l

23. A B p q Correctness Lemma Algorithm FindIntersections computes all interesections and their containing segments correctly. Proof By induction. Let p be an intersection point and assume all intersections with a higher priority have been computed correctly. p is an endpoint.  stored in the event queue Q. All involved are determined correctly. L(p) is also stored in Q. R(p) and C(p) are stored in T and will be found. p is not an endpoint. We show that p will be inserted into Q. All involved segments have p in interior. Order them by polar angle. Let A and B be neighboring segments. • There exists event point q < p after which A and B become adjacent..  By induction, q was handled corrected and p is detected and stored in Q

24. Output Sensitivity An algorithm is output sensitive if its running time is sensitive to the size of the output. The plane sweeping algorithm is output sensitive. running time O((n+k) log n) output size (intersections and their containing segments) But one intersection may consist of (n) segments. When this happens, running time becomes . Not tight! – the total number of intersections may still be (n).

25. A Tighter Bound The running time is O(nlog n + I log n). # intersections Idea in analysisall time cost is spent on maintaining the data structures: the event queue Q and the status structure tree T. • FindIntersections(S) • 1. Q// initialize an empty event queue • Insert the segment endpoints into Q// balanced binary search tree O(n log n) • T// initialize an empty status structure • whileQ   • do extract the next event point p • 6. Q Q – {p} // deletion from Q takes time O(log n). • 7. HandleEventPoint(p) // 1 or 2 calls to FindNewEvent // each call may result in an insertion into Q:O(log n) . // each operation on T – insertion, deletion, neighbor // finding – takes time O(log n) . // #operations on T is (|L(p)R(p) C(p)|)

26. Let n = #edges, n = #vertices. e v  m  2 n e  n = O(n ) // Euler’s equation e v But n 2n + I. The conclusion follows. v #Tree Operations Let Then the running time is O((m+n) log n). Claimm = O(n+I). Proof View the set of segments as a planar graph. | L(p)  R(p)  C(p)|  deg(p)  m   deg(p) Every edge contributes one each to the degree of its two vertices.

27. Storage The tree T stores every segment once.O(n) The size of the event queue Q:O(n+I). Reduce the storage toO(n). Store intersections among adjacent segments. Delete those of segments that stop being adjacent. Theorem All I intersections of n line segments in the plane can be reported in O((n+I) log n) time and O(n) space.